Absolutely there is a way.
A lot of people handle this by creating a singleton class that contains a concurrent dictionary of any custom user object you define. If you add your custom user objects to this dictionary on connection and remove them on disconnection, you'll be able to query your dictionary for a count of active users. Please keep in mind that it may not be up to the second accurate, because there is roughly a 30 second "abort" window that may still be active, even if the client no longer is because they closed their browser.
Now, is there any real "hardbaked" functionality in SignalR to do this for you? Not that I'm aware, but I haven't looked into 2.0 too exhaustively yet. As for detecting disconnections, it is fairly robust and if a connection is not detected, it will remove the connection as mentioned, allowing you to keep on top of the disconnections.
There is an excellent tutorial describing this approach here:
http://www.asp.net/signalr/overview/signalr-20/getting-started-with-signalr-20/tutorial-server-broadcast-with-signalr-20